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The International Journal of Robotics Research
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Computing n-Finger Form-Closure Grasps on Polygonal Objects

Yun-Hui Liu

Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kongyhliu{at}mae.cuhk.edu.hk

This paper presents an efficient algorithm for computing all n-finger form-closure grasps on a polygonal object based on a new sufficient and necessary condition for form-closure. With this new condition, it is possible to transfer the problem of computing the form-closure grasp in R3 to one in R1. We demonstrate that the non-form-closure grasps consist of two convex polytopes in the space of n parameters representing grasp points on sides of the polygon. The proposed algorithm works efficiently for n ≤ 3 and takes O(n3n/2) time for n > 3, where n denotes the number of the fingers. The algorithm has been implemented and its efficiency has been confirmed with two examples.

Key Words: multifingered robot hand • form-closure grasp • grasp computation • qualitative test

The International Journal of Robotics Research, Vol. 19, No. 2, 149-158 (2000)
DOI: 10.1177/02783640022066798
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This article has been cited by other articles:


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 The International Journal of Robotics ResearchHome page
Y. Zheng and W.-H. Qian
Coping with the Grasping Uncertainties in Force-closure Analysis
The International Journal of Robotics Research, April 1, 2005; 24(4): 311 - 327.
[Abstract] [PDF]

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 The International Journal of Robotics ResearchHome page
N. S. Pollard
Closure and Quality Equivalence for Efficient Synthesis of Grasps from Examples
The International Journal of Robotics Research, June 1, 2004; 23(6): 595 - 613.
[Abstract] [PDF]